namespace MathD
{
    export class mat3 extends Float32Array
    {
        private static Recycle:mat3[]=[];
        public static create():mat3
        {
            if(mat3.Recycle&&mat3.Recycle.length>0)
            {
                let item=mat3.Recycle.pop();
                mat3.identity(item);
                return item;
            }else
            {
                let item=new Float32Array(9);
                this[0] = 1;
                this[4] = 1;
                this[8] = 1;
                return item;
            }
        }
        public static clone(from: mat3): mat3
        {
            if(mat3.Recycle.length>0)
            {
                let item=mat3.Recycle.pop();
                mat3.copy(from,item);
                return item;
            }else
            {
                let out = new Float32Array(9);
                out[0] = from[0];
                out[1] = from[1];
                out[2] = from[2];
                out[3] = from[3];
                out[4] = from[4];
                out[5] = from[5];
                out[6] = from[6];
                out[7] = from[7];
                out[8] = from[8];
                return out;
            }
        }
        public static recycle(item:mat3)
        {
            mat3.Recycle.push(item);
        }
        public static disposeRecycledItems()
        {
            mat3.Recycle.length=0;
        }
        // public constructor()
        // {
        //     super(9);
        //     this[0]=1;
        //     this[4]=1;
        //     this[8]=1;
        // }
        
        
        /**
         * Copies the upper-left 3x3 values into the given mat3.
         *
         * @param {mat3} out the receiving 3x3 matrix
         * @param {mat4} a   the source 4x4 matrix
         * @returns {mat3} out
         */
        public static fromMat4(out, a) {
            out[0] = a[0];
            out[1] = a[1];
            out[2] = a[2];
            out[3] = a[4];
            out[4] = a[5];
            out[5] = a[6];
            out[6] = a[8];
            out[7] = a[9];
            out[8] = a[10];
            return out;
        }
        /**
         * Copy the values from one mat3 to another
         *
         * @param {mat3} out the receiving matrix
         * @param {mat3} a the source matrix
         * @returns {mat3} out
         */
        public static copy(a,out) {
            out[0] = a[0];
            out[1] = a[1];
            out[2] = a[2];
            out[3] = a[3];
            out[4] = a[4];
            out[5] = a[5];
            out[6] = a[6];
            out[7] = a[7];
            out[8] = a[8];
            return out;
        }
        
        /**
         * Set a mat3 to the identity matrix
         *
         * @param {mat3} out the receiving matrix
         * @returns {mat3} out
         */
        public static identity(out) {
            out[0] = 1;
            out[1] = 0;
            out[2] = 0;
            out[3] = 0;
            out[4] = 1;
            out[5] = 0;
            out[6] = 0;
            out[7] = 0;
            out[8] = 1;
            return out;
        }
        
        /**
         * Transpose the values of a mat3
         *
         * @param {mat3} out the receiving matrix
         * @param {mat3} a the source matrix
         * @returns {mat3} out
         */
        public static transpose(out, a) {
            // If we are transposing ourselves we can skip a few steps but have to cache some values
            if (out === a) {
            let a01 = a[1],
                a02 = a[2],
                a12 = a[5];
            out[1] = a[3];
            out[2] = a[6];
            out[3] = a01;
            out[5] = a[7];
            out[6] = a02;
            out[7] = a12;
            } else {
            out[0] = a[0];
            out[1] = a[3];
            out[2] = a[6];
            out[3] = a[1];
            out[4] = a[4];
            out[5] = a[7];
            out[6] = a[2];
            out[7] = a[5];
            out[8] = a[8];
            }
        
            return out;
        }
        
        /**
         * Inverts a mat3
         *
         * @param {mat3} out the receiving matrix
         * @param {mat3} a the source matrix
         * @returns {mat3} out
         */
        public static invert(out, a) {
            let a00 = a[0],
                a01 = a[1],
                a02 = a[2];
            let a10 = a[3],
                a11 = a[4],
                a12 = a[5];
            let a20 = a[6],
                a21 = a[7],
                a22 = a[8];
        
            let b01 = a22 * a11 - a12 * a21;
            let b11 = -a22 * a10 + a12 * a20;
            let b21 = a21 * a10 - a11 * a20;
        
            // Calculate the determinant
            let det = a00 * b01 + a01 * b11 + a02 * b21;
        
            if (!det) {
            return null;
            }
            det = 1.0 / det;
        
            out[0] = b01 * det;
            out[1] = (-a22 * a01 + a02 * a21) * det;
            out[2] = (a12 * a01 - a02 * a11) * det;
            out[3] = b11 * det;
            out[4] = (a22 * a00 - a02 * a20) * det;
            out[5] = (-a12 * a00 + a02 * a10) * det;
            out[6] = b21 * det;
            out[7] = (-a21 * a00 + a01 * a20) * det;
            out[8] = (a11 * a00 - a01 * a10) * det;
            return out;
        }
        
        /**
         * Calculates the adjugate of a mat3
         *
         * @param {mat3} out the receiving matrix
         * @param {mat3} a the source matrix
         * @returns {mat3} out
         */
        public static adjoint(out, a) {
            let a00 = a[0],
                a01 = a[1],
                a02 = a[2];
            let a10 = a[3],
                a11 = a[4],
                a12 = a[5];
            let a20 = a[6],
                a21 = a[7],
                a22 = a[8];
        
            out[0] = a11 * a22 - a12 * a21;
            out[1] = a02 * a21 - a01 * a22;
            out[2] = a01 * a12 - a02 * a11;
            out[3] = a12 * a20 - a10 * a22;
            out[4] = a00 * a22 - a02 * a20;
            out[5] = a02 * a10 - a00 * a12;
            out[6] = a10 * a21 - a11 * a20;
            out[7] = a01 * a20 - a00 * a21;
            out[8] = a00 * a11 - a01 * a10;
            return out;
        }
        
        /**
         * Calculates the determinant of a mat3
         *
         * @param {mat3} a the source matrix
         * @returns {Number} determinant of a
         */
        public static determinant(a) {
            let a00 = a[0],
                a01 = a[1],
                a02 = a[2];
            let a10 = a[3],
                a11 = a[4],
                a12 = a[5];
            let a20 = a[6],
                a21 = a[7],
                a22 = a[8];
        
            return a00 * (a22 * a11 - a12 * a21) + a01 * (-a22 * a10 + a12 * a20) + a02 * (a21 * a10 - a11 * a20);
        }
        
        /**
         * Multiplies two mat3's
         *
         * @param {mat3} out the receiving matrix
         * @param {mat3} a the first operand
         * @param {mat3} b the second operand
         * @returns {mat3} out
         */
        public static multiply(out, a, b) {
            let a00 = a[0],
                a01 = a[1],
                a02 = a[2];
            let a10 = a[3],
                a11 = a[4],
                a12 = a[5];
            let a20 = a[6],
                a21 = a[7],
                a22 = a[8];
        
            let b00 = b[0],
                b01 = b[1],
                b02 = b[2];
            let b10 = b[3],
                b11 = b[4],
                b12 = b[5];
            let b20 = b[6],
                b21 = b[7],
                b22 = b[8];
        
            out[0] = b00 * a00 + b01 * a10 + b02 * a20;
            out[1] = b00 * a01 + b01 * a11 + b02 * a21;
            out[2] = b00 * a02 + b01 * a12 + b02 * a22;
        
            out[3] = b10 * a00 + b11 * a10 + b12 * a20;
            out[4] = b10 * a01 + b11 * a11 + b12 * a21;
            out[5] = b10 * a02 + b11 * a12 + b12 * a22;
        
            out[6] = b20 * a00 + b21 * a10 + b22 * a20;
            out[7] = b20 * a01 + b21 * a11 + b22 * a21;
            out[8] = b20 * a02 + b21 * a12 + b22 * a22;
            return out;
        }
        
        /**
         * Translate a mat3 by the given vector
         *
         * @param {mat3} out the receiving matrix
         * @param {mat3} a the matrix to translate
         * @param {vec2} v vector to translate by
         * @returns {mat3} out
         */
        public static translate(out, a, v) {
            let a00 = a[0],
                a01 = a[1],
                a02 = a[2],
                a10 = a[3],
                a11 = a[4],
                a12 = a[5],
                a20 = a[6],
                a21 = a[7],
                a22 = a[8],
                x = v[0],
                y = v[1];
        
            out[0] = a00;
            out[1] = a01;
            out[2] = a02;
        
            out[3] = a10;
            out[4] = a11;
            out[5] = a12;
        
            out[6] = x * a00 + y * a10 + a20;
            out[7] = x * a01 + y * a11 + a21;
            out[8] = x * a02 + y * a12 + a22;
            return out;
        }
        
        /**
         * Rotates a mat3 by the given angle
         *
         * @param {mat3} out the receiving matrix
         * @param {mat3} a the matrix to rotate
         * @param {Number} rad the angle to rotate the matrix by
         * @returns {mat3} out
         */
        public static rotate(out, a, rad) {
            let a00 = a[0],
                a01 = a[1],
                a02 = a[2],
                a10 = a[3],
                a11 = a[4],
                a12 = a[5],
                a20 = a[6],
                a21 = a[7],
                a22 = a[8],
                s = Math.sin(rad),
                c = Math.cos(rad);
        
            out[0] = c * a00 + s * a10;
            out[1] = c * a01 + s * a11;
            out[2] = c * a02 + s * a12;
        
            out[3] = c * a10 - s * a00;
            out[4] = c * a11 - s * a01;
            out[5] = c * a12 - s * a02;
        
            out[6] = a20;
            out[7] = a21;
            out[8] = a22;
            return out;
        };
        
        /**
         * Scales the mat3 by the dimensions in the given vec2
         *
         * @param {mat3} out the receiving matrix
         * @param {mat3} a the matrix to rotate
         * @param {vec2} v the vec2 to scale the matrix by
         * @returns {mat3} out
         **/
        public static scale(out, a, v) {
            let x = v[0],
                y = v[1];
        
            out[0] = x * a[0];
            out[1] = x * a[1];
            out[2] = x * a[2];
        
            out[3] = y * a[3];
            out[4] = y * a[4];
            out[5] = y * a[5];
        
            out[6] = a[6];
            out[7] = a[7];
            out[8] = a[8];
            return out;
        }
        
        /**
         * Creates a matrix from a vector translation
         * This is equivalent to (but much faster than):
         *
         *     mat3.identity(dest);
         *     mat3.translate(dest, dest, vec);
         *
         * @param {mat3} out mat3 receiving operation result
         * @param {vec2} v Translation vector
         * @returns {mat3} out
         */
        public static fromTranslation(out, v) {
            out[0] = 1;
            out[1] = 0;
            out[2] = 0;
            out[3] = 0;
            out[4] = 1;
            out[5] = 0;
            out[6] = v[0];
            out[7] = v[1];
            out[8] = 1;
            return out;
        }
        
        /**
         * Creates a matrix from a given angle
         * This is equivalent to (but much faster than):
         *
         *     mat3.identity(dest);
         *     mat3.rotate(dest, dest, rad);
         *
         * @param {mat3} out mat3 receiving operation result
         * @param {Number} rad the angle to rotate the matrix by
         * @returns {mat3} out
         */
        public static fromRotation(out, rad) {
            let s = Math.sin(rad),
                c = Math.cos(rad);
        
            out[0] = c;
            out[1] = s;
            out[2] = 0;
        
            out[3] = -s;
            out[4] = c;
            out[5] = 0;
        
            out[6] = 0;
            out[7] = 0;
            out[8] = 1;
            return out;
        }
        
        /**
         * Creates a matrix from a vector scaling
         * This is equivalent to (but much faster than):
         *
         *     mat3.identity(dest);
         *     mat3.scale(dest, dest, vec);
         *
         * @param {mat3} out mat3 receiving operation result
         * @param {vec2} v Scaling vector
         * @returns {mat3} out
         */
        public static fromScaling(out, v) {
            out[0] = v[0];
            out[1] = 0;
            out[2] = 0;
        
            out[3] = 0;
            out[4] = v[1];
            out[5] = 0;
        
            out[6] = 0;
            out[7] = 0;
            out[8] = 1;
            return out;
        }
        
        /**
         * Copies the values from a mat2d into a mat3
         *
         * @param {mat3} out the receiving matrix
         * @param {mat2d} a the matrix to copy
         * @returns {mat3} out
         **/
        public static fromMat2d(a:mat2d,out:mat3) {
            out[0] = a[0];
            out[1] = a[1];
            out[2] = 0;
        
            out[3] = a[2];
            out[4] = a[3];
            out[5] = 0;
        
            out[6] = a[4];
            out[7] = a[5];
            out[8] = 1;
            return out;
        }
        
        /**
         * Calculates a 3x3 matrix from the given quaternion
        *
        * @param {mat3} out mat3 receiving operation result
        * @param {quat} q Quaternion to create matrix from
        *
        * @returns {mat3} out
        */
        public static fromQuat(out, q) {
            let x = q[0],
                y = q[1],
                z = q[2],
                w = q[3];
            let x2 = x + x;
            let y2 = y + y;
            let z2 = z + z;
        
            let xx = x * x2;
            let yx = y * x2;
            let yy = y * y2;
            let zx = z * x2;
            let zy = z * y2;
            let zz = z * z2;
            let wx = w * x2;
            let wy = w * y2;
            let wz = w * z2;
        
            out[0] = 1 - yy - zz;
            out[3] = yx - wz;
            out[6] = zx + wy;
        
            out[1] = yx + wz;
            out[4] = 1 - xx - zz;
            out[7] = zy - wx;
        
            out[2] = zx - wy;
            out[5] = zy + wx;
            out[8] = 1 - xx - yy;
        
            return out;
        }
        
        /**
         * Calculates a 3x3 normal matrix (transpose inverse) from the 4x4 matrix
        *
        * @param {mat3} out mat3 receiving operation result
        * @param {mat4} a Mat4 to derive the normal matrix from
        *
        * @returns {mat3} out
        */
        public static normalFromMat4(out, a) {
            let a00 = a[0],
                a01 = a[1],
                a02 = a[2],
                a03 = a[3];
            let a10 = a[4],
                a11 = a[5],
                a12 = a[6],
                a13 = a[7];
            let a20 = a[8],
                a21 = a[9],
                a22 = a[10],
                a23 = a[11];
            let a30 = a[12],
                a31 = a[13],
                a32 = a[14],
                a33 = a[15];
        
            let b00 = a00 * a11 - a01 * a10;
            let b01 = a00 * a12 - a02 * a10;
            let b02 = a00 * a13 - a03 * a10;
            let b03 = a01 * a12 - a02 * a11;
            let b04 = a01 * a13 - a03 * a11;
            let b05 = a02 * a13 - a03 * a12;
            let b06 = a20 * a31 - a21 * a30;
            let b07 = a20 * a32 - a22 * a30;
            let b08 = a20 * a33 - a23 * a30;
            let b09 = a21 * a32 - a22 * a31;
            let b10 = a21 * a33 - a23 * a31;
            let b11 = a22 * a33 - a23 * a32;
        
            // Calculate the determinant
            let det = b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 - b04 * b07 + b05 * b06;
        
            if (!det) {
            return null;
            }
            det = 1.0 / det;
        
            out[0] = (a11 * b11 - a12 * b10 + a13 * b09) * det;
            out[1] = (a12 * b08 - a10 * b11 - a13 * b07) * det;
            out[2] = (a10 * b10 - a11 * b08 + a13 * b06) * det;
        
            out[3] = (a02 * b10 - a01 * b11 - a03 * b09) * det;
            out[4] = (a00 * b11 - a02 * b08 + a03 * b07) * det;
            out[5] = (a01 * b08 - a00 * b10 - a03 * b06) * det;
        
            out[6] = (a31 * b05 - a32 * b04 + a33 * b03) * det;
            out[7] = (a32 * b02 - a30 * b05 - a33 * b01) * det;
            out[8] = (a30 * b04 - a31 * b02 + a33 * b00) * det;
        
            return out;
        }
        
        /**
         * Generates a 2D projection matrix with the given bounds
         *
         * @param {mat3} out mat3 frustum matrix will be written into
         * @param {number} width Width of your gl context
         * @param {number} height Height of gl context
         * @returns {mat3} out
         */
        public static projection(out, width, height) {
            out[0] = 2 / width;
            out[1] = 0;
            out[2] = 0;
            out[3] = 0;
            out[4] = -2 / height;
            out[5] = 0;
            out[6] = -1;
            out[7] = 1;
            out[8] = 1;
            return out;
        }
        
        /**
         * Returns a string representation of a mat3
         *
         * @param {mat3} a matrix to represent as a string
         * @returns {String} string representation of the matrix
         */
        public static str(a) {
            return 'mat3(' + a[0] + ', ' + a[1] + ', ' + a[2] + ', ' + a[3] + ', ' + a[4] + ', ' + a[5] + ', ' + a[6] + ', ' + a[7] + ', ' + a[8] + ')';
        }
        
        /**
         * Returns Frobenius norm of a mat3
         *
         * @param {mat3} a the matrix to calculate Frobenius norm of
         * @returns {Number} Frobenius norm
         */
        public static frob(a) {
            return Math.sqrt(Math.pow(a[0], 2) + Math.pow(a[1], 2) + Math.pow(a[2], 2) + Math.pow(a[3], 2) + Math.pow(a[4], 2) + Math.pow(a[5], 2) + Math.pow(a[6], 2) + Math.pow(a[7], 2) + Math.pow(a[8], 2));
        }
        
        /**
         * Adds two mat3's
         *
         * @param {mat3} out the receiving matrix
         * @param {mat3} a the first operand
         * @param {mat3} b the second operand
         * @returns {mat3} out
         */
        public static add(out, a, b) {
            out[0] = a[0] + b[0];
            out[1] = a[1] + b[1];
            out[2] = a[2] + b[2];
            out[3] = a[3] + b[3];
            out[4] = a[4] + b[4];
            out[5] = a[5] + b[5];
            out[6] = a[6] + b[6];
            out[7] = a[7] + b[7];
            out[8] = a[8] + b[8];
            return out;
        }
        
        /**
         * Subtracts matrix b from matrix a
         *
         * @param {mat3} out the receiving matrix
         * @param {mat3} a the first operand
         * @param {mat3} b the second operand
         * @returns {mat3} out
         */
        public static subtract(out, a, b) {
            out[0] = a[0] - b[0];
            out[1] = a[1] - b[1];
            out[2] = a[2] - b[2];
            out[3] = a[3] - b[3];
            out[4] = a[4] - b[4];
            out[5] = a[5] - b[5];
            out[6] = a[6] - b[6];
            out[7] = a[7] - b[7];
            out[8] = a[8] - b[8];
            return out;
        }
        
        /**
         * Multiply each element of the matrix by a scalar.
         *
         * @param {mat3} out the receiving matrix
         * @param {mat3} a the matrix to scale
         * @param {Number} b amount to scale the matrix's elements by
         * @returns {mat3} out
         */
        public static multiplyScalar(out, a, b) {
            out[0] = a[0] * b;
            out[1] = a[1] * b;
            out[2] = a[2] * b;
            out[3] = a[3] * b;
            out[4] = a[4] * b;
            out[5] = a[5] * b;
            out[6] = a[6] * b;
            out[7] = a[7] * b;
            out[8] = a[8] * b;
            return out;
        }
        
        /**
         * Adds two mat3's after multiplying each element of the second operand by a scalar value.
         *
         * @param {mat3} out the receiving vector
         * @param {mat3} a the first operand
         * @param {mat3} b the second operand
         * @param {Number} scale the amount to scale b's elements by before adding
         * @returns {mat3} out
         */
        public static multiplyScalarAndAdd(out, a, b, scale) {
            out[0] = a[0] + b[0] * scale;
            out[1] = a[1] + b[1] * scale;
            out[2] = a[2] + b[2] * scale;
            out[3] = a[3] + b[3] * scale;
            out[4] = a[4] + b[4] * scale;
            out[5] = a[5] + b[5] * scale;
            out[6] = a[6] + b[6] * scale;
            out[7] = a[7] + b[7] * scale;
            out[8] = a[8] + b[8] * scale;
            return out;
        }
        
        /**
         * Returns whether or not the matrices have exactly the same elements in the same position (when compared with ===)
         *
         * @param {mat3} a The first matrix.
         * @param {mat3} b The second matrix.
         * @returns {Boolean} True if the matrices are equal, false otherwise.
         */
        public static exactEquals(a, b) {
            return a[0] === b[0] && a[1] === b[1] && a[2] === b[2] && a[3] === b[3] && a[4] === b[4] && a[5] === b[5] && a[6] === b[6] && a[7] === b[7] && a[8] === b[8];
        }
        
        /**
         * Returns whether or not the matrices have approximately the same elements in the same position.
         *
         * @param {mat3} a The first matrix.
         * @param {mat3} b The second matrix.
         * @returns {Boolean} True if the matrices are equal, false otherwise.
         */
        public static equals(a, b) {
            let a0 = a[0],
                a1 = a[1],
                a2 = a[2],
                a3 = a[3],
                a4 = a[4],
                a5 = a[5],
                a6 = a[6],
                a7 = a[7],
                a8 = a[8];
            let b0 = b[0],
                b1 = b[1],
                b2 = b[2],
                b3 = b[3],
                b4 = b[4],
                b5 = b[5],
                b6 = b[6],
                b7 = b[7],
                b8 = b[8];
            return Math.abs(a0 - b0) <= EPSILON && Math.abs(a1 - b1) <= EPSILON && Math.abs(a2 - b2) <= EPSILON && Math.abs(a3 - b3) <= EPSILON && Math.abs(a4 - b4) <= EPSILON && Math.abs(a5 - b5) <= EPSILON && Math.abs(a6 - b6) <= EPSILON && Math.abs(a7 - b7) <= EPSILON && Math.abs(a8 - b8) <= EPSILON;
        }
    }
}
